EP3620276A1 - Teleskopstellglied mit seil - Google Patents

Teleskopstellglied mit seil Download PDF

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Publication number
EP3620276A1
EP3620276A1 EP19188869.2A EP19188869A EP3620276A1 EP 3620276 A1 EP3620276 A1 EP 3620276A1 EP 19188869 A EP19188869 A EP 19188869A EP 3620276 A1 EP3620276 A1 EP 3620276A1
Authority
EP
European Patent Office
Prior art keywords
stage
cable
strand
telescopic actuator
intermediate support
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP19188869.2A
Other languages
English (en)
French (fr)
Inventor
Philippe Garrec
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Original Assignee
Commissariat a lEnergie Atomique CEA
Commissariat a lEnergie Atomique et aux Energies Alternatives CEA
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Commissariat a lEnergie Atomique CEA, Commissariat a lEnergie Atomique et aux Energies Alternatives CEA filed Critical Commissariat a lEnergie Atomique CEA
Publication of EP3620276A1 publication Critical patent/EP3620276A1/de
Withdrawn legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J18/00—Arms
    • B25J18/02—Arms extensible
    • B25J18/025—Arms extensible telescopic
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/0006—Exoskeletons, i.e. resembling a human figure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
    • B25J9/104—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons
    • B25J9/1045—Programme-controlled manipulators characterised by positioning means for manipulator elements with cables, chains or ribbons comprising tensioning means
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H19/00—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion
    • F16H19/02—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion
    • F16H19/06—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member
    • F16H19/0622—Gearings comprising essentially only toothed gears or friction members and not capable of conveying indefinitely-continuing rotary motion for interconverting rotary or oscillating motion and reciprocating motion comprising flexible members, e.g. an endless flexible member for converting reciprocating movement into oscillating movement and vice versa, the reciprocating movement is perpendicular to the axis of oscillation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
    • F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
    • F16H25/20—Screw mechanisms

Definitions

  • the invention relates to the field of linear actuators and more particularly to telescopic actuators.
  • hydraulic telescopic actuators comprising several tubular stages mounted one inside the other sliding along a longitudinal axis. These actuators make it possible to obtain a longitudinal stroke greater than the longitudinal dimension of the actuator.
  • a first tubular stage receives slidingly a second tubular stage in which a third stage is mounted slidingly.
  • the first and second stages receive lip seals which seal and guide the stages in their relative sliding.
  • the introduction of pressurized oil into the first stage causes deployment of the other two stages.
  • These cylinders are reliable and robust but have the drawback of being heavy and requiring a heavy and bulky hydraulic power plant.
  • the object of the invention is to reduce the mass and size of a telescopic actuator.
  • a telescopic actuator comprising a first stage in which a second stage is slidably mounted along a longitudinal axis. A third stage is slidably mounted in the second stage along the longitudinal axis.
  • the telescopic actuator comprises actuation means comprising a movable element operatively connected to the second stage.
  • the telescopic actuator also includes a first cable strand having a first end operatively connected to the first tubular stage and a second end operatively connected to the third stage. The first cable strand is engaged on a first cable return integral with the second tubular stage so that a displacement of the second stage relative to the first stage in a first direction causes a displacement of the third stage relative to the second stage in the first meaning.
  • a compact and lightweight telescopic actuator is thus obtained which does not require hydraulic fluid.
  • the actuator is double-acting when it comprises a second cable strand having a first end functionally connected to the first tubular stage and a second end functionally connected to the third stage and when the second cable strand is engaged on a second cable return integral with the second tubular stage so that a displacement of the second stage relative to the first stage in a second direction opposite to the first causes a displacement of the third stage relative to the second stage in the second direction.
  • the risks of misalignment of the third stage are significantly reduced when it is moved in the first direction when the actuator comprises a third strand of cable having a first end functionally connected to the first tubular stage and a second end functionally connected to the third stage and the third strand of cable is engaged on a third cable return integral with the second tubular stage so that a displacement of the second stage relative to the first stage in the first direction causes a displacement of the third stage relative to the second stage in the first direction .
  • the risks of misalignment are further reduced when the first strand extends symmetrically to the third cable strand relative to the longitudinal axis.
  • the risks of misalignment of the third stage are significantly reduced when it is moved in the second direction when the actuator comprises a fourth strand of cable having a first end functionally connected to the first tubular stage and a second end functionally connected to the third stage and the fourth strand of cable is engaged on a fourth cable return integral with the second tubular stage so that a displacement of the second stage relative to the first stage in the second direction causes a displacement of the third stage relative to the second stage in the second direction .
  • the risks of misalignment are further reduced when the second cable strand extends symmetrically to the fourth cable strand relative to the longitudinal axis.
  • the effects of voltage differences in the first and third strands of cable and the non-linear behavior of the strands of cable when moving the second stage in the first direction are reduced when the second end of the first strand is connected to a first intermediate support and that a fifth strand of cable extending between the first intermediate support and the third stage. These effects are further reduced when the second end of the third strand is connected to the first intermediate support and / or when a sixth cable strand extends between the first intermediate support and the third stage.
  • the sixth strand extends symmetrically to the fifth strand relative to the longitudinal axis.
  • the effects of voltage differences in the second and fourth strands of cable and of the non-linear behavior of the cable strands when moving the second stage in the second direction are reduced when the second end of the second strand is connected to a second intermediate support and that a seventh strand of cable extending between the second intermediate support and the third stage. These effects are further reduced when the second end of the fourth strand is connected to the second intermediate support and / or when an eighth strand of cable extends between the second intermediate support and the third stage.
  • the eighth strand extends symmetrically to the seventh strand relative to the longitudinal axis.
  • the effects of the voltage differences in the first and third strands of cable and the non-linear behavior of the strands of cable when moving the second stage in the first direction are further reduced when the first end of the first strand is connected to a third intermediate support and a ninth strand of cable extending between the third intermediate support and the first tubular stage. These effects are further reduced when the first end of the third strand is connected to the third intermediate support and / or when a tenth strand of cable extends between the third intermediate support and the first stage.
  • the tenth strand extends symmetrically to the ninth strand relative to the longitudinal axis.
  • the effects of voltage differences in the first and third strands of cable and of the non-linear behavior of the strands of cable when moving the second stage in the second direction are further reduced when the first end of the second strand is connected to a fourth support intermediate and that an eleventh strand of cable extends between the fourth intermediate support and the first tubular stage.
  • These effects are further reduced when the first end of the fourth strand is connected to the fourth intermediate support and / or when a twelfth strand of cable extends between the fourth intermediate support and the first tubular stage.
  • the twelfth strand extends symmetrically to the eleventh strand relative to the longitudinal axis.
  • any of the cable strands is preloaded.
  • a cable designates any flexible force transmission element and covers especially straps, chains and belts, notched or not.
  • the ambulatory exoskeleton according to the invention is carried by a user 100.
  • the exoskeleton 1 comprises a pelvis segment 2 connected to the user 100 by straps 3 and on which are articulated a first left lower member 10 and a second right lower member 20.
  • the left lower member 10 comprises a first telescopic actuator 11 extending along the lower left member 110 of the user 100.
  • a first end 11.1 of the first actuator 11 is articulated on the pelvis segment 2 and a second end 11.2 of the first actuator 11 is articulated on a foot segment 12 via a first articulation 13 provided with a first angular encoder 14.
  • the lower right member 20 comprises a second actuator 21 telescopic extending along the right lower limb 120 of the user 100.
  • a first end 21.1 of the second actuator 21 is articulated abutment on the pelvis segment 2 and a second end 21.2 of the second actuator 21 is articulated on a foot segment 22 via a second articulation 23 provided with a second angular encoder 24.
  • the pelvis segment 2 and the foot segments 12 and 22 are respectively connected to the hip 102, the left foot 112 and the right foot 122 of the user 100 by straps.
  • the exoskeleton 1 also comprises a dorsal segment 4 integral with the pelvis segment 2 and on which is mounted a motorization unit 5.
  • the motorization unit 5 comprises a first grooved sleeve 6 connected by a first flexible shaft 7 to a second sleeve splined 15 of the first actuator 11.
  • the drive unit 5 also includes a third splined socket 8 connected by a second flexible shaft 9 to a fourth splined socket 16 of the second actuator 21.
  • the drive unit 5 here comprises a first and a second electric geared motor 5.1 and 5.2 respectively connected to the first and second grooved sockets 6 and 8.
  • the first encoder 14, the second encoder 24 and the motorization unit 5 are connected to a control and command unit 90 carried by the segment tank 2 and powered by a battery 91.
  • the first actuator 11 being identical to the second actuator 21, the following description of the first actuator 11 is valid for the second actuator 21.
  • the actuator 11 according to a first embodiment of the invention comprises a first tubular stage 30 in the form of a straight cylinder.
  • the first stage 30 comprises a circular bottom 31 at the center of which extends a ball screw 32 mounted for rotation along the longitudinal axis Oy (here a vertical axis according to the representation of the figure 2 ) in a bearing 31.1.
  • the first end 32.1 of the screw 32 is integral with the second grooved socket 15.
  • a second stage 33 is slidably mounted, along the longitudinal axis Oy, in the first stage 30 to project from the open end 30.1 of the first stage 30.
  • a third stage 34 is slidably mounted, along the longitudinal axis Oy, in the second stage 33 to project from the open end 33.1 of the second stage 33.
  • a nut 33.3 welded to the bottom 33.2 of the second stage 33 cooperates with the screw 32.
  • the screw 32 also extends through an orifice 34.1 made in the center of the bottom 34.2 of the third stage 34.
  • the actuator 11 comprises a first cable strand 35 having a first end 35.1 crimped on a point 30.2 of the open end 30.1 of the first stage 30 and a second end 35.2 crimped on a point 34.3 of the bottom 34.2 of the third stage 34.
  • the first cable strand 35 is engaged on a first pulley 36 rotatably mounted on an axis 36.1 screwed onto the open end 33.1 of the second stage 33.
  • the axis 36.1 extends, here, in a direction perpendicular to the longitudinal axis Oy.
  • the actuator 11 also comprises a second cable strand 37 having a first end 37.1 crimped on point 30.2 of the first stage 30 and a second end 37.2 crimped on point 34.3 of the third stage 34.
  • the second cable strand 37 is engaged on a second pulley 38 rotatably mounted on an axis 38.1 screwed onto the bottom 33.2 of the second stage 33.
  • the axis 38.1 extends, here, in a direction perpendicular to the longitudinal axis Oy.
  • the actuator 11 also comprises a third cable strand 39 having a first end 39.1 crimped on a point 30.3 of the open end 30.1 of the first stage 30 and a second end 39.2 crimped on a point 34.4 of the bottom 34.2 of the third stage 34.
  • the third strand of cable 39 is engaged on a third pulley 40 rotatably mounted on a axis 40.1 screwed onto the open end 33.1 of the second stage 33.
  • the axis 40.1 extends, here, in a direction perpendicular to the longitudinal axis Oy.
  • the first cable strand 35 extends symmetrically with respect to the longitudinal axis Oy to the third cable strand 39.
  • the actuator 11 also comprises a fourth cable strand 41 having a first end 41.1 crimped on point 30.3 of the first stage 30 and a second end 41.2 crimped on point 34.4 of the third stage 34.
  • the fourth cable strand 41 is engaged on a fourth pulley 42 rotatably mounted on an axis 42.1 screwed onto the bottom 33.2 of the second stage 33.
  • the axis 42.1 extends, here, in a direction perpendicular to the longitudinal axis Oy.
  • the fourth cable strand 41 extends symmetrically to the first cable strand 35 relative to the longitudinal axis Oy.
  • the circular bottom 31 of the first stage 30 corresponds to the first end 11.1 of the first actuator 11 and the end 34.5 of the second stage 33 opposite the bottom 34.2 corresponds to the second end 11.2 of the first actuator 11.
  • Points 30.2, 30.3, 34.3 and 34.4 as well as the first, second, third, fourth strands of cable 35, 37, 39, 41 are here, all in the same first plane P 1 .
  • a rotation of the ball screw 32 in a first direction of rotation 32.2 positive causes a longitudinal translation of the nut 33.3 in a direction tending to move it away from the bottom 31.
  • This translation of the nut 33.3 causes a displacement of the second stage 33 relative to the first stage 30 in a first direction T 1 in a longitudinal direction.
  • the displacement of the first pulley 36 of the second stage 33 relative to the first point 30.2 of the first stage 30 in the first direction T 1 results in a shortening of the portion of the first strand of cable 35 extending between point 34.3 of the bottom 34.2 of the second stage 33 and the first pulley 36.
  • This shortening causes the third stage 34 to move relative to the second stage 33 in the first direction T 1 .
  • the displacement of the second stage 33 relative to the first stage 30 in the first direction T 1 acts similarly on the third strand of cable 39 which also contributes to the displacement of the third stage 34 relative to the second stage 33.
  • a rotation of the ball screw 32 in a second negative direction of rotation 32.3 causes a longitudinal translation of the nut 33.3 in a direction tending to bring it closer to the bottom 31.
  • This translation of the nut 33.3 causes a displacement of the second stage 33 relative to the first stage 30 in a second direction T 2 opposite to the first direction T 1 .
  • the displacement of the second pulley 38 of the second stage 33 relative to the first point 30.2 of the first stage 30 in the second direction T 2 results in a shortening of the portion of the second strand of cable 37 extending between point 34.3 of the bottom 34.2 of the second stage and the second pulley 38.
  • This shortening causes a displacement of the third stage 34 relative to the second stage 33 in the second direction T 2 .
  • the displacement of the second stage 33 relative to the first stage 30 in the second direction T 2 acts in a similar manner on the fourth strand of cable 41 which also contributes to the displacement of the third stage 34 relative to the second stage 33.
  • a compact and lightweight telescopic actuator is thus obtained which can ideally be used in the ambulatory exoskeleton 1.
  • the encoder 14 of the articulation 13 measures a change in the relative angular position of the foot segment 12 of the exoskeleton 1 relative to the first actuator 11 and transmits this information to the control unit 90.
  • the control unit 90 analyzes this measurement and controls the motor unit 5 so as to cause rotation of the first grooved sleeve 6 to cause rotation of the ball screw 32 in the second direction of rotation 32.3. This rotation causes the first actuator 11 to retract, which reduces the distance d G separating the left foot segment 12 from the pelvis segment 2.
  • the control unit 90 controls the movement of the first splined sleeve 6 of the motorization unit 5 on the relative angular position of the foot segment 12 relative to the first actuator 11. The user can then fold his left lower limb 110, its movement being accompanied by a retraction of the first actuator 11.
  • the control unit 90 analyzes this measurement and controls the motor unit 5 so as to cause rotation of the first grooved sleeve 6 to cause rotation of the ball screw 32 in the first direction of rotation 32.2. This rotation causes deployment of the first actuator 11 which increases the distance d G separating the left foot segment 12 from the pelvis segment 2.
  • the control unit 90 controls the movement of the first splined sleeve 6 of the motorization unit 5 in the relative angular position of the foot segment 12 relative to the first actuator 11. The user can then unfold his left lower limb 110, his movement being accompanied by deployment of the first actuator 11.
  • the telescopic actuator 11 comprises a first intermediate support 50-here in the form of a ring- the upper face 50.1 of which is connected to the second end 35.2 of the first strand of cable 35 in one point 50.2.
  • the upper face 50.1 of the first intermediate support 50 is also connected to the second end 39.2 of the third cable strand 39 at a point 50.3.
  • the points 50.2 and 50.3 are here positioned on the upper face 50.1 of the first intermediate support 50 symmetrically with respect to the longitudinal axis Oy.
  • a fifth strand of cable 52 extends between a point 50.4 on the lower face 50.5 of the first intermediate support 50 and the bottom 34.2 of the third stage 34.
  • a sixth strand of cable 53 extends between the underside 50.5 of the first intermediate support 50 and the bottom 34.2 of the third stage 34.
  • the fifth strand of cable 52 s extends symmetrically to the sixth strand of cable 53 relative to the longitudinal axis Oy in a second plane P 2 orthogonal to the first plane P 1 .
  • the first intermediate support 50 and the fifth and sixth strands of cable 52 and 53 reduce the bending moments between the second stage 33 and the third stage 34 of the actuator 11. These bending moments and which can in particular be generated by a distribution non-homogeneous tensions in the first cable strand 35 and the third cable strand 39 as well as by differences between the stiffnesses of the first cable strand 35 and the third cable strand 39.
  • the telescopic actuator 11 comprises a second intermediate support 54 - here in the form of a ring - the lower face 54.1 of which is connected to the second end 37.2 of the second strand cable 37 at one point 54.2.
  • the lower face 54.1 of the second intermediate support 54 is also connected to the second end 41.2 of the fourth cable strand 41 at a point 54.3.
  • Points 54.2 and 54.3 are positioned here on the lower face 54.1 of the second intermediate support 54 symmetrically with respect to the longitudinal axis Oy.
  • a seventh strand of cable 55 and an eighth strand of cable 56 extend between the upper face 54.4 of the second intermediate support 54 and the bottom 34.2 of the third stage 34.
  • the seventh strand of cable 55 extends symmetrically to the eighth strand of cable 56 relative to the longitudinal axis Oy in the second plane P 2 .
  • the second intermediate support 54 and the seventh and eighth strands of cable 55 and 56 reduce the bending moments between the second stage 33 and the third stage 34 of the actuator 11. The linearity of the behavior of the actuator 11 is then improved of its retraction.
  • the telescopic actuator 11 comprises a third intermediate support 57 - here in the form of a ring - the upper face 57.1 of which is connected to the first end 35.1 of the first cable strand 35 in one point 57.2.
  • the upper face 57.1 of the third intermediate support 57 is also connected to the first end 39.1 of the third cable strand 39 at a point 57.3.
  • Points 57.2 and 57.3 are positioned here on the upper face 57.1 of the third intermediate support 57 symmetrically with respect to the longitudinal axis Oy.
  • a ninth strand of cable 58 and a tenth strand of cable 59 extend between the underside 57.4 of the third intermediate support 57 and the open end 30.1 of the first stage 30.
  • the ninth strand of cable 58 extends symmetrically to the tenth strand of cable 59 by with respect to the longitudinal axis Oy in the second plane P 2 .
  • the third intermediate support 57 and the ninth and tenth strands of cable 58 and 59 reduce the bending moments between the first stage 30 and the second stage 33 of the actuator 11. The linearity of the behavior of the actuator 11 is then improved of its deployment.
  • the telescopic actuator 11 comprises a fourth intermediate support 60 - here in the form of a ring - the lower face 60.1 of which is connected to the first end 37.1 of the second cable strand 37 in one point 60.2.
  • the lower face 60.1 of the fourth intermediate support 60 is also connected to the first end 41.1 of the fourth cable strand 41 at a point 60.3.
  • Points 60.2 and 60.3 are positioned here on the underside 60.1 of the fourth intermediate support 60 symmetrically with respect to the longitudinal axis Oy.
  • An eleventh cable strand 61 and a twelfth cable strand 62 extend between the upper face 60.4 of the fourth intermediate support 60 and the open end 30.1 of the first stage 30.
  • the eleventh cable strand 61 extends symmetrically to the twelfth cable strand 62 relative to the longitudinal axis Oy in the second plane P 2 .
  • the fourth intermediate support 60 and the eleventh and twelfth strands of cable 61 and 62 reduce the bending moments between the first stage 30 and the second stage 33 of the actuator 11 and which can be generated by an uneven distribution of the voltages in the second strand of cable 37 and the fourth cable strand 41 as well as by differences between the stiffnesses of the second cable strand 37 and the fourth cable strand 41 and the non-linear behavior of these cable strands.
  • the linearity of the behavior of the actuator 11 is then improved during its retraction.
  • the nut 33.3 is connected to the bottom 33.2 of the second stage 33 by means of an anti-rotation device 70.
  • the anti-rotation device 70 comprises a thirteenth strand of cable 71 set on a first eyelet 72 secured of the nut 33.3 and extending in a longitudinal direction between the first eyelet 72 and a fifth intermediate support 73.
  • a fourteenth strand of cable 74 is also crimped on the first eyelet 72 and extends in a longitudinal direction between the first eyelet 72 and a sixth intermediate support 75.
  • a fifteenth strand of cable 76 is crimped onto a second eyelet 77 diametrically opposite to the first eyelet 72 and extends in a longitudinal direction between the second eyelet 77 and the fifth intermediate support 73.
  • a sixteenth cable strand 78 is also crimped on the second eyelet 77 and extends in a longitudinal direction between the second eyelet 77 and the sixth intermediate support 75.
  • the thirteenth cable strand 71, the fourteenth cable strand 74, the fifteenth cable strand 76 and the sixteenth cable strand 78 extend in the plane P2.
  • the anti-rotation device 70 also comprises a seventeenth strand of cable 79 which extends in a longitudinal direction between the fifth intermediate support 73 and a first disc 80 secured to the bottom 33.2 of the second stage 33.
  • An eighteenth cable strand 81 extends in a longitudinal direction between the fifth intermediate support 73 and the first disc 80 secured to the bottom 33.2 of the second stage 33.
  • the anti-rotation device 70 also comprises a nineteenth cable strand 82 which extends in a longitudinal direction between the sixth intermediate support 75 and a second disc 83 secured to the bottom 33.2 of the second stage 33.
  • a twentieth strand of cable 84 extends in a longitudinal direction between the fifth intermediate support 73 and the second disc 83.
  • the seventeenth cable strand 79, the eighteenth cable strand 81, the nineteenth cable strand 82 and the twentieth cable strand 84 extend in the plane P1.
  • the seventeenth strand of cable 79, the eighteenth strand of cable 81, the nineteenth strand of cable 82 and the twentieth strand of cable 84 are preloaded and exert forces opposing a rotational drive of the nut 33.3 by the screw 32 during a rotation of the second grooved sleeve 15 in the two directions of movement of the nut 33.3 relative to the screw 32. They then perform an anti-rotation function so that a rotation of the screw 32 causes a displacement of the nut 33.3 relative to the screw 32. This arrangement further reduces the parasitic forces in the telescopic actuator 11.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Manipulator (AREA)
  • Actuator (AREA)
  • Transmission Devices (AREA)
EP19188869.2A 2018-08-07 2019-07-29 Teleskopstellglied mit seil Withdrawn EP3620276A1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
FR1857341A FR3084921B1 (fr) 2018-08-07 2018-08-07 Actionneur telescopique a cable

Publications (1)

Publication Number Publication Date
EP3620276A1 true EP3620276A1 (de) 2020-03-11

Family

ID=65201032

Family Applications (1)

Application Number Title Priority Date Filing Date
EP19188869.2A Withdrawn EP3620276A1 (de) 2018-08-07 2019-07-29 Teleskopstellglied mit seil

Country Status (2)

Country Link
EP (1) EP3620276A1 (de)
FR (1) FR3084921B1 (de)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113334363A (zh) * 2021-07-19 2021-09-03 广西科技大学 一种长度可调节的外骨骼机器人腿部结构及使用方法
WO2024126914A1 (fr) * 2022-12-16 2024-06-20 Commissariat A L'energie Atomique Et Aux Energies Alternatives Actionneur a vis/ecrou a compacite amelioree

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH670899A5 (en) * 1986-09-04 1989-07-14 Peter Huerlimann Telescopic camera stand with motorised drive - has carbon fibre bands for drive to successive telescopic sections
JP2000117670A (ja) * 1998-10-08 2000-04-25 Kawasaki Heavy Ind Ltd ロボット
DE29824529U1 (de) * 1997-09-09 2001-06-28 Linet Spol. S.R.O., Slany Hubvorrichtung vorzugsweise für die Höhenverstellung eines Kranken- oder Pflegebetts
WO2017121971A1 (fr) * 2016-01-15 2017-07-20 Robotiques 3 Dimensions Exosquelette avec jambes télescopiques a l'arrière

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CH670899A5 (en) * 1986-09-04 1989-07-14 Peter Huerlimann Telescopic camera stand with motorised drive - has carbon fibre bands for drive to successive telescopic sections
DE29824529U1 (de) * 1997-09-09 2001-06-28 Linet Spol. S.R.O., Slany Hubvorrichtung vorzugsweise für die Höhenverstellung eines Kranken- oder Pflegebetts
JP2000117670A (ja) * 1998-10-08 2000-04-25 Kawasaki Heavy Ind Ltd ロボット
WO2017121971A1 (fr) * 2016-01-15 2017-07-20 Robotiques 3 Dimensions Exosquelette avec jambes télescopiques a l'arrière

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113334363A (zh) * 2021-07-19 2021-09-03 广西科技大学 一种长度可调节的外骨骼机器人腿部结构及使用方法
WO2024126914A1 (fr) * 2022-12-16 2024-06-20 Commissariat A L'energie Atomique Et Aux Energies Alternatives Actionneur a vis/ecrou a compacite amelioree
FR3143700A1 (fr) * 2022-12-16 2024-06-21 Commissariat A L'energie Atomique Et Aux Energies Alternatives Actionneur à vis/écrou à compacité améliorée

Also Published As

Publication number Publication date
FR3084921B1 (fr) 2021-01-15
FR3084921A1 (fr) 2020-02-14

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